CN104613942B - Analytic method of image pair relative elements of exterior orientation - Google Patents
Analytic method of image pair relative elements of exterior orientation Download PDFInfo
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- CN104613942B CN104613942B CN201510046798.8A CN201510046798A CN104613942B CN 104613942 B CN104613942 B CN 104613942B CN 201510046798 A CN201510046798 A CN 201510046798A CN 104613942 B CN104613942 B CN 104613942B
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C11/00—Photogrammetry or videogrammetry, e.g. stereogrammetry; Photographic surveying
- G01C11/04—Interpretation of pictures
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- Length Measuring Devices By Optical Means (AREA)
Abstract
The invention discloses an analytic method of image pair relative elements of exterior orientation. The analytic method is characterized by comprising the following steps: selecting two points with proper distance on a vertical direction, respectively shooting on the two points to obtain an upper image S1 and a lower image S2 to construct a group of image pair, wherein the upper image S1 is used as a standard image; knowing the elements of interior orientation of two images as f, ui0, vi0, ui0' and vi0'; computing to obtain corrected image collimation mark coordinate (ui, vi) of S1 and the corrected image collimation mark coordinate (ui', vi') of the S2; and then respectively selecting three corresponding image points (i equals to 1, 2, 3) on the S1 and S2, solving the relative elements of exterior orientation bx, by, bz, phi, Kappa and parameter lambda of the image pair.
Description
First, technical field
The method belong in close-range photogrammetry using as to the elements of interior orientation method that solves relatively elements of exterior orientation.
2nd, technical background
In close-range photogrammetry, elements of exterior orientation is to determine light beam position in given object space coordinate system d-xyz
Key element with direction.Elements of exterior orientation has six, three exterior orientation vertical elements and three foreign side's parallactic angle elements.Three foreign sides
Position vertical element, i.e. coordinate figure (xs, ys, zs), in order to describe light beam summit (photo centre) s in object space coordinate system d-xyz
In position;Three foreign side's parallactic angle elements (κ, ω), in order to describe direction in object space coordinate system d-xyz for the light beam.
Image space coordinate system s-xyz rotates three angles through orderObtain space auxiliary coordinates s-
Xyz, whereinω, κ be respectively picture point in image space coordinate system s-xyz around y-axis, x-axis, z-axis the anglec of rotation.
3rd, content of the invention
A kind of picture to the analytic method of relatively elements of exterior orientation it is characterised in that: in the vertical direction chooses suitable distance
2 points, and photography obtains upper piece s respectively on this 2 points1With bottom sheet s2, constitute one group of picture pair, wherein above piece s1For standard
Photo;The elements of interior orientation of known two photos is f, ui 0, vi 0, ui 0’, vi 0’;S is tried to achieve in calculating1Fiducial mark of the photograph coordinate after correction
(ui, vi), s2Fiducial mark of the photograph coordinate (u after correctioni', vi’);Then in photo s1、s23 corresponding image points of upper selection respectively are (i.e.
I=1,2,3), two photo s are obtained by close-range photogrammetry knowledge1And s2Between relational expression:
Wherein, r is spin matrix;λi, ri, ri' it is zoom factor;bx, by, bzRepresent three exterior orientation vertical elements respectively
xs, ys, zsKnots modification δ xs, δ ys, δ zsWith zoom factor ri' between relation.
Finally choose 3 corresponding image points, solve as to relative elements of exterior orientation bx, by, bz,ω, κ and parameter lambda:
Wherein a is coefficient matrix;X is parametric array to be asked;B is constant.
The inventive method has the advantage that
Constitute one group of picture pair with two photos of vertical direction photographs, in the situation of known two elements of interior orientation
Under, choose 3 corresponding image points, calculate elements of exterior orientation and this seven parameters of zoom factor.
4th, brief description:
Further illustrate below in conjunction with the accompanying drawings and to this method.
Fig. 1 is the internal and external orientation schematic diagram of photo.Wherein, d-xyz is object space coordinate system, and s-xyz is as empty
Between coordinate system, s-xyz be space auxiliary coordinates,κ, ω are three anglecs of rotation, and s is photo centre, away from x based on fs、ys、
zsFor three exterior orientation vertical elements.
Fig. 2 is photo schematic diagram.Wherein, (a) represents photo s1And s2Collimation mark coordinate system;Two pictures when () represents photography b
The relative position of piece.
5th, specific embodiment:
1st, in the vertical direction chooses 2 points of suitable distance, and photography acquisition upper piece s respectively on this 2 points1And bottom sheet
s2, constitute one group of picture pair, wherein above piece s1For standard photo;
2nd, the elements of interior orientation according to two photos is f, ui 0, vi 0, ui 0’, vi 0’, calculate and try to achieve s1Photo frame after correction
Mark coordinate is (ui, vi), s2Fiducial mark of the photograph coordinate after correction is (ui', vi’);
3 and then in photo s1、s2Upper 3 corresponding image points of selection respectively, obtain two according to close-range photogrammetry knowledge solution
Photo s1And s2Between parsing relation;
4th, finally choose 3 corresponding image points, solve as to relative elements of exterior orientation bx, by, bz,ω, κ and parameter
λ.
Claims (1)
1. a kind of picture to the analytic method of relatively elements of exterior orientation it is characterised in that: in the vertical direction chooses suitable distance
2 points, and photography acquisition upper piece s respectively on this 2 points1With bottom sheet s2, constitute one group of picture pair, wherein above piece s1For official portrait
Piece;The elements of interior orientation of known two photos is f,S is tried to achieve in calculating1Fiducial mark of the photograph after correction is sat
Mark (ui, vi), s2Fiducial mark of the photograph coordinate (u after correctioni', vi’);Then in photo s1、s2Upper 3 corresponding image points of selection respectively,
Corresponding i=1,2,3, two photo s are obtained by close-range photogrammetry knowledge1And s2Between relational expression:
Wherein, r is spin matrix;λi, ri, ri' it is zoom factor;bx, by, bzRepresent three exterior orientation vertical element x respectivelys,
ys, zsKnots modification δ xs, δ ys, δ zsWith zoom factor ri' between relation;
Finally choose 3 corresponding image points, by following formula solve as to relative elements of exterior orientation bx, by, bz,ω, κ and ginseng
Number λ:
Ax+b=o
Wherein a is coefficient matrix;X is parametric array to be asked;B is constant,
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CN105241422B (en) * | 2015-09-18 | 2017-05-03 | 北京林业大学 | Measurement method for relative exterior orientation elements by using arbitrary photographic image pair of ground without any known photogrammetric control point |
CN106403906A (en) * | 2016-10-18 | 2017-02-15 | 安徽协创物联网技术有限公司 | Method for improving measurement precision of resultant image shooting of multiple panoramic cameras |
CN108344398B (en) * | 2017-01-22 | 2020-09-22 | 北京林业大学 | Algorithm for obtaining ground fixed-point multi-piece 3D photographing exterior orientation elements by applying 3 control points |
CN111457896B (en) * | 2020-04-20 | 2021-09-14 | 中国人民解放军空军航空大学 | Single-image space back intersection non-iterative method |
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DD200820B1 (en) * | 1981-07-22 | 1987-01-21 | Raimund Koch | ARRANGEMENT FOR DETERMINING THE ADJUSTMENT VALUES OF A PHOTOGRAMMETRIC DETERGENT UNIT |
CN101298979A (en) * | 2008-07-01 | 2008-11-05 | 北京林业大学 | Estimate survey technique using metric camera cooperating with theodolite |
CN102128618B (en) * | 2010-12-09 | 2012-11-21 | 中国测绘科学研究院 | Active dynamic positioning method |
CN103558619B (en) * | 2013-11-06 | 2016-03-02 | 中测新图(北京)遥感技术有限责任公司 | Obtain the method for the elements of exterior orientation of photo of taking photo by plane |
CN103679711B (en) * | 2013-11-29 | 2016-06-01 | 航天恒星科技有限公司 | A kind of remote sensing satellite linear array push sweeps optics camera outer orientation parameter calibration method in-orbit |
CN104075736A (en) * | 2014-07-11 | 2014-10-01 | 北京林业大学 | Method for determining internal and external orientation elements of common digital camera |
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